Dense, sonar-based reconstruction of underwater scenes

Three-dimensional maps of underwater scenes are critical to-or the desired end product of-many applications, spanning a spectrum of spatial scales. Examples range from inspection of subsea infrastructure to hydrographic surveys of coastlines. Depending on the end use, maps will have different accuracy requirements. The accuracy of a mapping platform depends mainly on the individual accuracies of (i) its pose estimate in some global frame, (ii) the estimates of offsets between mapping sensors and platform, and (iii) the accuracy of the mapping sensor measurements. Typically, surface-based surveying platforms will employ highly accurate positioning sensors-e.g. a combination of differential global navigation satellite system (GNSS) receiver with an accurate attitude and heading reference system-to instrument the pose of a mapping sensor such as a multibeam sonar.

Name thesis:degree_name

Doctoral

Department dc:contributor.department

Joint Program in Applied Ocean Science and Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2019

Author dc:creator

• Vaz Teixeira, Pedro Nuno.

Advisor dc:contributor.advisor

• John J. Leonard.

• Joint Program in Applied Ocean Science and Engineering.
• Mechanical Engineering.
• Woods Hole Oceanographic Institution.

Statement dc:rights

• MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/123776

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/123776